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A control method for rehabilitation training of a lower limb exoskeleton rehabilitation robot

A rehabilitation robot and control method technology, applied in the field of rehabilitation medicine, can solve problems such as low-level control methods that rarely involve active and passive training, and the influence of control is not considered.

Inactive Publication Date: 2017-07-28
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This invention provides a double-closed-loop control method for the robot system, which does not involve the design of specific algorithms, and the control method does not consider the influence of external disturbances and parameter changes on the robot control system
[0005] Analyzing the existing inventions, it can be found that the control methods in the existing inventions mostly focus on the design of the upper-level control methods of the robot system, such as active and passive training, but rarely involve the design of the underlying control methods for active and passive training. , for example, consider how to control the robot joints to accurately realize the motion trajectory when realizing active and passive control

Method used

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  • A control method for rehabilitation training of a lower limb exoskeleton rehabilitation robot
  • A control method for rehabilitation training of a lower limb exoskeleton rehabilitation robot
  • A control method for rehabilitation training of a lower limb exoskeleton rehabilitation robot

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Embodiment

[0038] figure 1 It is a schematic diagram of the mechanical structure of the lower extremity exoskeleton rehabilitation robot.

[0039] In this example, if figure 1 As shown, each leg of the lower extremity exoskeleton rehabilitation robot has two degrees of freedom, that is, the hip joint and the knee joint each have one degree of freedom. In the following adaptive controller design process, they are all designed based on the single-leg 2-degree-of-freedom model.

[0040] figure 2 It is a flow chart of the control method for the rehabilitation training of the lower limb exoskeleton rehabilitation robot of the present invention.

[0041] Such as figure 2 As shown, in this embodiment, a control method for rehabilitation training of a lower extremity exoskeleton rehabilitation robot includes the following steps:

[0042] S201. Model the lower limb exoskeleton rehabilitation robot, and obtain the model equation of the lower limb exoskeleton rehabilitation robot as:

[004...

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Abstract

The invention discloses a control method for rehabilitation training of a lower limb exoskeleton rehabilitation robot. By modeling the lower limb exoskeleton rehabilitation robot, the model equation is obtained, and then an adaptive controller and a control rate calculation formula are constructed. For the undetermined control The gain parameters are obtained through pre-training, and then the rotation angle and rotation speed of the knee joint and hip joint of the lower limb exoskeleton rehabilitation robot are actually measured, and finally the actual parameters are substituted into the adaptive control rate calculation formula to obtain the adaptive controller at time t , the driving device applies force to the lower extremity exoskeleton rehabilitation robot according to the adaptive control rate.

Description

technical field [0001] The invention belongs to the technical field of rehabilitation medicine, and more specifically relates to a control method for rehabilitation training of a lower limb exoskeleton rehabilitation robot. Background technique [0002] With the intensification of aging in our country, the health care of the elderly population has attracted the attention of the society. Stroke hemiplegia is a common disease among the elderly, which can lead to inconvenient walking and gait deformation in mild cases, and can be bedridden and completely incapacitated in severe cases. Without effective rehabilitation treatment, their lower limb motor function may never recover, seriously affecting their normal life. Rehabilitation robot is a new application of the combination of robot and rehabilitation medicine. Rehabilitation robot combines different robot control methods to provide active and passive rehabilitation training for paraplegic patients. In the context of the ag...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 贺威麻天照张旭
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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